/*
 * Copyright (c) 2013, Open Source Robotics Foundation
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

/** \author Tully Foote */

#ifndef TF2_CONVERT_H
#define TF2_CONVERT_H


#include <tf2/transform_datatypes.h>
#include <tf2/exceptions.h>
#include <geometry_msgs/TransformStamped.h>


namespace tf2 {

/**\brief The templated function expected to be able to do a transform
 *
 * This is the method which tf2 will use to try to apply a transform for any given datatype.   
 * \param data_in The data to be transformed.
 * \param data_out A reference to the output data.  Note this can point to data in and the method should be mutation safe.
 * \param transform The transform to apply to data_in to fill data_out.  
 * 
 * This method needs to be implemented by client library developers
 */
template <class T>
  void doTransform(const T& data_in, T& data_out, const geometry_msgs::TransformStamped& transform);

/**\brief Get the timestamp from data 
 * \param t The data input.
 * \return The timestamp associated with the data. 
 */
template <class T>
  const ros::Time& getTimestamp(const T& t);

/**\brief Get the frame_id from data 
 * \param t The data input.
 * \return The frame_id associated with the data. 
 */
template <class T>
  const std::string& getFrameId(const T& t);



/* An implementation for Stamped<P> datatypes */
template <class P>
  const ros::Time& getTimestamp(const tf2::Stamped<P>& t)
  {
    return t.stamp_;
  }

/* An implementation for Stamped<P> datatypes */
template <class P>
  const std::string& getFrameId(const tf2::Stamped<P>& t)
  {
    return t.frame_id_;
  }

template <class A, class B>
  void convert(const A& a, B& b)
  {
    //printf("In double type convert\n");
    fromMsg(toMsg(a), b);
  }

template <class A>
  void convert(const A& a1, A& a2)
  {
    //printf("In single type convert\n");
    if(&a1 != &a2)
      a2 = a1;
  }


}

#endif //TF2_CONVERT_H
